WO2014132766A1 - モータ制御装置及びモータ制御方法 - Google Patents
モータ制御装置及びモータ制御方法 Download PDFInfo
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- WO2014132766A1 WO2014132766A1 PCT/JP2014/052737 JP2014052737W WO2014132766A1 WO 2014132766 A1 WO2014132766 A1 WO 2014132766A1 JP 2014052737 W JP2014052737 W JP 2014052737W WO 2014132766 A1 WO2014132766 A1 WO 2014132766A1
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- command value
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Definitions
- the present invention relates to a motor control device and a motor control method.
- an excitation current command value calculation unit for calculating an excitation current command value for generating a target magnetic flux and an excitation current limiter unit for limiting positive and negative upper limit values of the excitation current command value
- the value calculation unit calculates the excitation current command value so that the value of the excitation current is greatly changed in order to change the response of the secondary magnetic flux, and the excitation current limiter unit is excessively large to protect the drive circuit of the inverter.
- Patent Document 1 A device that sets the upper limit value so that no current flows is disclosed (Patent Document 1).
- the problem to be solved by the present invention is to provide a motor control device or a motor control method with improved torque response.
- the present invention amplifies the basic current command value based on the torque command value, thereby compensating for the delay in the rotor magnetic flux response of the motor, limiting the compensated current command value with the first current limit value, Based on the first post-limit current command value, a compensation value for the current amplification command value is calculated, and by adding the current amplification command value and the compensation value, the post-compensation current command value is calculated.
- the above-mentioned problem is solved by calculating the command value for which the first current limit value is limited as a compensation value.
- the current command value corresponding to the limit is used as the compensation value to obtain the current amplification command value.
- the current amplification command value is compensated by the compensation value after the current amplification command value becomes a value that is not limited by the current limit value, so that the torque response can be improved.
- FIG. 1 is a block diagram of an electric vehicle system according to an embodiment of the present invention. It is a graph for demonstrating the map referred by the motor torque control part of FIG. 1, Comprising: It is a graph which shows the correlation of the motor rotation speed and torque command value which were set for every accelerator opening. It is a block diagram of the current control part of FIG. FIG. 4 is a block diagram of the current command value calculator of FIG. 3. It is a block diagram of the exciting current compensation control part of FIG. It is a block diagram of the torque current compensation control part of FIG. It is a flowchart which shows the control procedure of the motor controller of FIG. It is a flowchart which shows the control procedure of step S4 of FIG.
- step S45 of FIG. It is a graph which shows the torque response of the motor controlled by the motor control apparatus which concerns on a comparative example. It is a graph which shows the torque response of the motor controlled by the motor control apparatus which concerns on this invention.
- FIG. 1 is a block diagram showing a configuration of an electric vehicle system equipped with a motor control device according to an embodiment of the present invention.
- the motor control device of this example is applied to an electric vehicle.
- the motor control device of this example can be applied to a vehicle other than an electric vehicle such as a hybrid vehicle (HEV).
- HEV hybrid vehicle
- the vehicle including the motor control device of this example includes a battery 1, an inverter 2, a motor 3, a speed reducer 4, a drive shaft (drive shaft) 5, drive wheels 6 and 7, a voltage sensor 8, and a current.
- a sensor 9, a rotation sensor 10, and a motor controller 20 are provided.
- the battery 1 is a power source of the vehicle, and is configured by connecting a plurality of secondary batteries in series or in parallel.
- the inverter 2 has a power conversion circuit in which a plurality of switching elements such as IGBTs and MOSFETs are connected for each phase. Inverter 2 switches on and off of the switching element according to a drive signal from motor controller 20, thereby converting DC power output from battery 1 into AC power and outputting it to motor 3. A desired current is supplied to drive the motor 3. The inverter 2 reversely converts the AC power output by the regeneration of the motor 3 and outputs it to the battery 1.
- the motor 3 is a driving source of the vehicle, and is an induction motor for transmitting a driving force to the driving wheels 6 and 7 via the speed reducer 4 and the drive shaft 5.
- the motor 3 is rotated by the driving wheels 6 and 7 while the vehicle is running, and generates regenerative driving force to recover the kinetic energy of the vehicle as electric energy.
- the battery 1 is discharged by the power running of the motor 3 and charged by the regeneration of the motor 3.
- the voltage sensor 8 is a sensor that detects the voltage of the battery 1, and is connected between the battery 1 and the inverter 2. The detection voltage of the voltage sensor 8 is output to the motor controller 20.
- the current sensor 9 is a sensor for detecting the current of the motor 3, and is connected between the inverter 2 and the motor 3. The current detected by the current sensor 9 is output to the motor controller 20.
- the rotation sensor 10 is a sensor for detecting the number of rotations of the motor 3, and is constituted by a resolver or the like. The detection value of the rotation sensor 10 is output to the motor controller 20.
- the motor controller 20 is a PWM for operating the inverter 2 based on the vehicle speed (V) of the vehicle, the accelerator opening (APO), the rotor phase ( ⁇ re ) of the motor 3, the motor current, the voltage of the battery 1, and the like.
- a signal is generated and output to a drive circuit (not shown) that operates the inverter 2.
- the drive circuit controls the drive signal of the switching element of the inverter 2 based on the PWM control signal and outputs it to the inverter 2.
- the motor controller 20 drives the motor 3 by operating the inverter 2.
- the motor controller 20 is a controller that controls the motor 3.
- the motor controller 20 has a motor torque control unit 21, a vibration suppression control unit 22, and a current control unit 23.
- the motor torque control unit 21 is configured to output a torque requested by a user operation or a requested torque on the system from the motor 3 based on a vehicle information signal indicating a vehicle variable input to the motor controller 20. T m1 * ) is calculated and output to the vibration suppression control unit 22.
- a torque map showing the relationship of FIG. FIG. 2 is a graph showing the correlation between the motor speed and the basic target torque command value set for each accelerator opening.
- the torque map is set in advance according to the relationship between the torque command value and the rotation speed of the motor 3 for each accelerator opening.
- the torque map is set as a torque command value for efficiently outputting torque from the motor 3 with respect to the accelerator opening and the motor speed.
- the motor rotation speed is calculated based on the detection value of the rotation sensor 10.
- the accelerator opening is detected by an accelerator opening sensor (not shown).
- the motor torque control unit 21 calculates a basic target torque command value (T m1 * ) corresponding to the input accelerator opening (APO) and the motor rotation speed with reference to the torque map, and the vibration suppression control unit 22 Output to.
- the basic target torque command value (T m1 * ) becomes zero.
- the basic target torque command value (T m1 * ) is not limited to the accelerator opening and the motor rotation speed, and may be calculated by adding the vehicle speed, for example.
- the vehicle speed V [km / h] is acquired by communication from another controller such as a meter or a brake controller, or the tire mechanical radius ( ⁇ rm) is multiplied by the tire dynamic radius (R) and divided by the gear ratio of the final gear.
- the vehicle speed v [m / s] may be obtained and multiplied by the unit conversion coefficient (3600/1000) from [m / s] to [km / h].
- the vibration suppression control unit 22 receives the basic motor torque command value T m1 * and the motor rotation speed N m as input, and drives the drive shaft 5 (drive shaft) caused by torsional vibration or the like without sacrificing the response of the drive shaft torque.
- a post-damping control torque command value T m2 * that suppresses vibration of the force transmission system is calculated. Refer to Japanese Patent Application Publications (Japanese Patent Laid-Open Nos. 2001-45613 and 2003-9559) for detailed control of the vibration suppression control unit 22, for example. Then, the vibration suppression control unit 22 outputs a post-vibration control torque command value T m2 * calculated based on the basic target torque command value (T m1 * ) to the current control unit 23. Note that the vibration suppression control unit 22 is not always necessary.
- the current control unit 23 is a control unit that controls the current flowing through the motor 3 based on the torque command value (T m2 * ).
- T m2 * the torque command value
- FIG. 3 is a block diagram of the current control unit 23, the battery 1, and the like.
- the current control unit 23 includes a current command value calculator 30, a subtractor 41, a current FB controller 42, a coordinate converter 43, a PWM converter 44, an AD converter 45, a coordinate converter 46, a pulse counter 47, an angular velocity calculator. 48, a slip angular velocity calculator 49, a power supply phase calculator 50, and a motor rotation number calculator 51.
- the current command value calculator 30 includes a post-vibration control torque command value (T m2 * ) input from the vibration suppression control unit 22, and the motor 3 rotation speed (N m ) input from the motor rotation speed calculator 51. ) And the detection voltage (V dc ) of the voltage sensor 8 are input, and the ⁇ axis current command values (I ⁇ * , I ⁇ * ) are calculated and output.
- the ⁇ axes indicate components of the rotating coordinate system.
- the subtractor 41 calculates a deviation between the ⁇ axis current command value (I ⁇ * , I ⁇ * ) and the ⁇ axis current (I ⁇ * , I ⁇ * ), and outputs the deviation to the current FB controller 42.
- the current FB controller 42 feeds back the ⁇ -axis current (I ⁇ ) and the ⁇ -axis current (I ⁇ ) to match the ⁇ -axis current command value (I ⁇ ) and the ⁇ -axis current command value (I ⁇ * ), respectively. It is a controller to control.
- the current FB controller 42 controls the ⁇ axis current (I ⁇ , I ⁇ ) to follow the ⁇ axis current command value (I ⁇ * , I ⁇ * ) with a predetermined response without a steady deviation.
- the calculation is performed, and the voltage command values (v ⁇ * , v ⁇ * ) of the ⁇ axis are output to the coordinate converter 43.
- the ⁇ -axis current represents the excitation current of the motor 3, and the ⁇ -axis current represents the torque current of the motor 3. Further, non-interference control may be added to the control of the subtractor 41 and the current FB controller 42.
- the coordinate converter 43 receives the ⁇ axis voltage command value (v ⁇ * , v ⁇ * ) and the power supply phase ( ⁇ ) calculated by the power supply phase calculator 50 as inputs, and receives the ⁇ axis voltage command value (v ⁇ * , v ⁇ * ) is converted into voltage command values (v u * , v v * , v w * ) of the u, v, and w axes in the fixed coordinate system, and output to the PWM converter 44.
- the voltage command value input (V u *, V v * , V w *) based on the switching signal (D * uu switching elements of the inverter 2, D * ul, D * vu, D * Vl , D * wu , D * wl ) are generated and output to the inverter 2.
- the A / D converter 45 samples a phase current (I u , I v ) that is a detection value of the current sensor 9 and outputs the sampled phase current (I us , I vs ) to the coordinate converter 46. Since the sum of the three-phase current values becomes zero, the w-phase current is not detected by the current sensor 9, and instead, the coordinate converter 46 converts the input phase current (I us , I vs ). Based on this, the phase current (I ws ) of the w phase is calculated.
- the w-phase current may be detected by the current sensor 9 provided in the w-phase.
- the coordinate converter 46 is a converter that performs three-phase to two-phase conversion, and uses the power phase ( ⁇ ) to convert the phase current (I us , I vs , I ws ) of the fixed coordinate system to the ⁇ axis of the rotating coordinate system.
- the current is converted into current (I ⁇ s , I ⁇ s ) and output to the subtractor 41. Thereby, the current value detected by the current sensor 9 is fed back.
- the pulse counter 47 counts the pulses output from the rotation sensor 10 to obtain the rotor phase ( ⁇ re ) (electrical angle) that is the position information of the rotor of the motor 3 and outputs it to the angular velocity calculator 48. To do.
- the angular velocity calculator 48 calculates the rotor angular velocity ( ⁇ re ) (electrical angle) by differentiating the rotor phase ( ⁇ re ), and outputs it to the power supply phase calculator 50.
- the angular velocity calculator 48 divides the calculated rotor angular velocity ( ⁇ re ) by the pole pair number p of the motor 3 to calculate the rotor mechanical angular velocity ( ⁇ rm ) [rad / s] which is the mechanical angular velocity of the motor. And output to the motor rotation number calculator 51.
- the slip angular velocity calculator 49 calculates a rotor magnetic flux estimated value ( ⁇ est ) in consideration of the rotor magnetic flux response delay with respect to the excitation current command value (I ⁇ * ) by the following equation (1).
- M is the mutual inductance
- ⁇ ⁇ is the response time constant of the rotor magnetic flux.
- ⁇ ⁇ is expressed by Lr / Rr
- Lr indicates the self-inductance of the rotor
- Rr indicates the rotor resistance.
- the slip angular velocity calculator 49 has a ratio between the torque current command value (I ⁇ * ) and the estimated rotor magnetic flux value ( ⁇ est ) obtained from the equation (1) as expressed by the equation (2).
- the slip angular velocity ( ⁇ se ) is calculated by dividing a constant determined by the characteristics of the motor. For these values of M, ⁇ ⁇ , M ⁇ Rr / Lr, etc., values calculated in advance or experimentally for the rotor temperature, current value, and torque command value may be stored in a table.
- the slip angular velocity calculator 49 outputs the slip angular velocity ( ⁇ se ) calculated as described above to the power supply phase calculator 50.
- the output torque can be handled by the product of the torque current and the rotor magnetic flux.
- the power phase calculator 50 integrates the rotor angular velocity ( ⁇ re ) (electrical angle) while adding the slip angular velocity ( ⁇ se ), thereby obtaining the power phase. ( ⁇ ) is calculated and output to the coordinate converters 43 and 46.
- the motor rotational speed calculator 51 multiplies the rotor mechanical angular velocity ( ⁇ rm ) by a coefficient (60 / 2 ⁇ ) for unit conversion from [rad / s] to [rpm], so that the motor rotational speed ( Nm) is calculated and output to the current command value calculator 30.
- FIG. 4 is a block diagram showing a configuration of the current command value calculator 30.
- the current command value calculator 30 includes a basic current command value calculation unit 31, a magnetic flux response compensation unit 32, an excitation current command value change amount calculation unit 33, a compensation determination unit 34, and a compensation control unit 35.
- the basic current command value calculation unit 31 includes a basic ⁇ -axis current command value (I ⁇ 0 * ) for the post-damping control torque command value (T m2 * ), the voltage (V dc ) of the battery 1 and the motor speed (N m ) . , I ⁇ 0 * ) is recorded in advance.
- the basic ⁇ axis current command values (I ⁇ 0 * , I ⁇ 0 * ) are based on the torque command value after vibration suppression control (T m2 * ), the voltage (V dc ) of the battery 1 and the motor speed (N m ). This is a current command value that optimizes the overall efficiency of the inverter 2 and the motor 3, and is a value set in advance through experiments or calculations.
- the basic current command value calculation unit 31 refers to the map and corresponds to the post-vibration control torque command value (T m2 * ), the voltage (V dc ) of the battery 1, and the motor rotation speed (N m ).
- Basic ⁇ -axis current command values (I ⁇ 0 * , I ⁇ 0 * ) are calculated and output to the magnetic flux response compensation unit 32 and the excitation current command value change amount calculation unit 33.
- the magnetic flux response compensator 32 advances the phase of the delay to amplify the basic current command value, so that the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) or magnetic flux compensation is performed.
- the current command value of at least one of the ⁇ -axis current command value (I ⁇ 1 * ) is calculated.
- the response of the rotor magnetic flux is one order of magnitude slower than the response of the torque current.
- the output of the motor 3 is proportional to the product of the rotor magnetic flux and the stator torque current. Therefore, the torque response is delayed due to the response delay of the rotor magnetic flux.
- the magnetic flux response compensation unit 32 compensates the current command value so as to compensate for such a delay in torque response. As a result, since the basic current command value increases in the motor 3, a large excitation current can flow transiently, so that the torque response can be improved while improving the rotor magnetic flux response.
- the magnetic flux response compensator 32 adds the response time constant ( ⁇ i ) of the stator current and the response time constant of the rotor magnetic flux ( ⁇ i ) to the basic ⁇ -axis current command value (I ⁇ 0 * ) as shown in the following equation (4). By multiplying by a coefficient including ⁇ ⁇ ), the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) is calculated and output to the compensation control unit 35.
- the magnetic flux response compensator 32 functions as a phase advance compensator by calculating the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) using Equation (4).
- the magnetic flux response compensator 32 adds the response time constant ( ⁇ i ) of the stator current and the response time constant of the rotor magnetic flux to the basic ⁇ -axis current command value (I ⁇ 0 * ).
- the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) is calculated and output to the compensation control unit 35.
- the calculation formula of the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) is expressed by the following formula (5).
- the excitation current command value change amount calculation unit 33 uses the approximate expression shown by the following formula (6) to change the basic ⁇ -axis current command value from the input basic ⁇ -axis current command value (I ⁇ 0 * ).
- the amount (dI ⁇ 0 * ) is calculated and output to the compensation determination unit 34.
- ⁇ 0 is a set value indicating how long the change in the basic ⁇ -axis current command value (I ⁇ 0 * ) is approximately calculated, and is set in advance by design or experiment. ing.
- the amount of change (dI ⁇ 0 *) is the last basic ⁇ -axis current command value at operation and (I [gamma] 0 *), the difference between the current basic ⁇ -axis current command value at operation (I [gamma] 0 *) very Good.
- a calculation unit such as a current command value calculator 30 included in the motor controller 20 calculates a command value or the like at a predetermined control cycle.
- the command value of the previous calculation value indicates the command value calculated at a timing earlier than the command value of the current calculation value by a predetermined control period.
- the compensation determination unit compares the change amount (dI ⁇ 0 * ) of the basic ⁇ -axis current command value with the determination threshold value (I 0 ), and performs additional compensation of the excitation current based on the comparison result, or the torque current It is determined whether additional compensation is performed.
- the magnetic flux response compensation unit 32 compensates the excitation current or torque current, and the compensation control unit 35 performs additional compensation. Then, the compensation control unit 35 selectively performs compensation for increasing the torque response to the excitation current or the torque current according to the change amount of the excitation current command value. Therefore, the compensation determination unit 34 compares the amount of change (dI ⁇ 0 * ) with the determination threshold value (I 0 ) in order to select a compensation target in the compensation control unit 35, and the comparison result is sent to the compensation control unit 35. Output.
- the determination threshold (I 0 ) is a threshold for determining whether to perform additional compensation for the excitation current or additional compensation for the torque current, and is a threshold set in advance by design or experiment.
- the compensation determination unit 34 changes the excitation current and increases the response speed of the excitation current. Then, a signal for permitting the additional compensation of the excitation current is transmitted to the compensation control unit 35.
- the compensation determination unit 34 has a small change amount of the excitation current and determines the response speed of the excitation current. Since it is not necessary to increase the signal, a signal indicating that additional compensation of torque current is permitted is transmitted to the compensation control unit 35.
- the compensation control unit 35 is a control unit that selectively performs additional excitation current compensation and additional torque current compensation based on the determination result of the compensation determination unit 34 in order to increase the response speed of the torque.
- a control unit 100 and a torque current compensation control unit 200 are provided.
- the exciting current compensation control unit 100 includes a magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) compensated by the magnetic flux response compensation unit 32, a basic ⁇ -axis current command value (I ⁇ 0 * ), and a torque command value after vibration suppression control. Based on (T m2 * ), the ⁇ axis current command value (I ⁇ * , I ⁇ * ) is calculated and output to the subtractor 41 and the slip angular velocity calculator 49.
- the torque current compensation control unit 200 includes a magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ), a basic ⁇ -axis current command value (I ⁇ 0 * ) compensated by the magnetic flux response compensation unit 32, and a torque command value after vibration suppression control. Based on (T m2 * ), the ⁇ axis current command value (I ⁇ * , I ⁇ * ) is calculated and output to the subtractor 41 and the slip angular velocity calculator 49.
- FIG. 5 is a block diagram illustrating the configuration of the magnetic flux response compensation unit 32 and the excitation current compensation control unit 100.
- the excitation current compensation control unit 100 includes a torque current limiting unit 101, a rotor magnetic flux estimation unit 102, an output torque estimation unit 103, an ideal response torque calculation unit 104, a torque deviation calculation unit 105, an integral reset determination unit 106, and an excitation current command value deviation.
- a calculation unit 107, an additional compensation value calculation unit 108, an adder 109, a torque current estimation unit 110, an excitation current limit value calculation unit 111, and an excitation current limit unit 112 are included.
- the torque current limiting unit 101 calculates a ⁇ -axis current command value (I ⁇ ) by limiting the input basic ⁇ -axis current command value (I ⁇ 0 * ) with a current limit value ( ⁇ Imax_ ⁇ ).
- the current limit value ( ⁇ Imax_ ⁇ ) is defined by an upper limit value and a lower limit value, and is a threshold value set in advance by design or experiment.
- the torque current limiting unit 101 sets the current limit value (+ Imax_ ⁇ ) to the ⁇ -axis current command value (I ⁇ ).
- the torque current limiting unit 101 sets the current limit value ( ⁇ Imax_ ⁇ ) to the ⁇ -axis current command value ( I ⁇ * ).
- the torque current limiting unit 101, base ⁇ -axis current value (I ⁇ 0 *) is lower current limit (-Imax _ ⁇ ) higher than, and if the current limit value of the upper limit (+ Imax _ ⁇ ) lower than the
- the basic ⁇ -axis current command value (I ⁇ 0 * ) is calculated as the ⁇ -axis current command value (I ⁇ * ).
- the torque current limiting unit 101 outputs the calculated ⁇ -axis current command value (I ⁇ ) to the output torque estimating unit 103, the torque current estimating unit 110, the subtractor 41, and the like.
- the rotor magnetic flux estimator 102 adds the mutual inductance M and the previous value (I ⁇ _Z * ) of the ⁇ -axis current command value (I ⁇ * ) calculated by the exciting current limiter 112 as shown in Expression (7). By multiplying a function including the response time constant ( ⁇ ⁇ ) of the rotor magnetic flux, the rotor magnetic flux estimated value ( ⁇ est — z ) is calculated and output to the output torque estimating unit 103.
- the response time constant ( ⁇ ⁇ ) of the rotor magnetic flux is expressed by Lr / Rr, where Lr indicates the rotor self-inductance and Rr indicates the rotor resistance.
- Lr and Rr are values set in advance by calculation or experiment.
- the output torque estimator 103 multiplies the rotor magnetic flux estimated value ( ⁇ est — z ), the ⁇ -axis current command value (I ⁇ ), and the torque constant (K Te ) as shown in the equation (8), thereby generating the output torque.
- the estimated value (T m_est ) is calculated and output to the torque deviation calculation unit 105.
- the torque constant (K Te ) is expressed by p ⁇ M / Lr, p indicates the number of pole pairs, M indicates the mutual inductance, and Lr indicates the self-inductance of the rotor.
- p, M, and Lr are values set in advance by calculation or experiment.
- the ideal response torque calculation unit 104 multiplies the torque command value after damping control (T m2 * ) by a function including a time constant ( ⁇ m ), as shown in the equation (9), to thereby obtain an ideal torque response value.
- (T m_ref ) is calculated and output to the torque deviation calculation unit 105.
- the time constant ( ⁇ m ) is a time constant that determines an ideal response of the motor torque.
- the output torque is a non-linear value because it is expressed by the product of the rotor magnetic flux and the current response value with reference to equation (8).
- equation (9) the response of the first-order lag is shown.
- the output torque (T m_ref ) in the ideal response is calculated with a value approximated to.
- the torque deviation calculation unit 105 calculates the motor torque deviation ( ⁇ T m ) by calculating the difference between the output torque estimation unit (T m_est ) and the torque ideal response value (T m_ref ), as shown in Expression (10). Is output to the integral reset determination unit 106.
- the integration reset determination unit 106 determines whether or not to reset the compensation value of the additional compensation value calculation unit 108 according to the motor torque deviation ( ⁇ T m ), and additionally performs a flag (flg_IRST) indicating the determination result.
- the value is output to the value calculation unit 108.
- the determination and flag conditions are shown as follows.
- the reset determination threshold value (dT m0 ) is a threshold value set in advance so as to suppress overshoot of the output torque, and is a value set by design or experiment. The output torque overshoot will be described later.
- the integral reset determination unit 106 sets the flag (flg_IRST) to “0” so as not to reset the compensation value.
- the integral reset determination unit 106 sets the flag (flg_IRST) to “1” so as to reset the compensation value.
- the excitation current command value deviation calculation unit 107 calculates the difference between the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) and the previous value (I ⁇ _Z * ) of the ⁇ -axis current command value, as shown in Expression (11). Thus, the ⁇ -axis current command value deviation ( ⁇ I ⁇ * ) is calculated and output to the additional compensation value calculation unit 108.
- the additional compensation value calculation unit 108 integrates the ⁇ -axis current command value deviation ( ⁇ I ⁇ * ) according to the state of the flag (flg_IRST), as shown in the expressions (12) and (13), By multiplying the gain, a compensation value (I ⁇ — FB ) is calculated and output to the adder 109.
- 1 / T i is an integral gain set so as to release a compensation value with a predetermined response to the integral value, and is a value set in advance by design or experiment.
- the adder 109 adds the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) and the compensation value (I ⁇ _FB ), as shown by the equation (14), so that the ⁇ -axis current command before the current limit correction is performed.
- the value (I ⁇ 2 * ) is calculated and output to the excitation current limiter 112.
- the command value compensated by the magnetic flux response compensation unit 32 among the command values input to the adder 109 is the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ).
- the compensation control in the control configuration shown in FIG. 5 is a control that increases the response speed of the excitation current based on the determination result of the compensation determination unit 34. Therefore, the excitation current command value is input to the adder 109 among the command values after compensation by the magnetic flux response compensation unit 32.
- the command value on the torque current side is not compensated for increasing the response speed, and is used for setting a limit value of the excitation current.
- the torque current estimator 110 multiplies the ⁇ -axis current command value (I ⁇ * ) by a function including the response time constant ( ⁇ i ) of the stator current, as shown in the equation (15), thereby obtaining the ⁇ -axis current.
- the estimated value (I ⁇ _est * ) is calculated and output to the excitation current limit value calculation unit 111.
- the excitation current limit value calculation unit 111 is based on the maximum current limit value (I max ) and the ⁇ axis current estimated value (I ⁇ _est * ), as shown in the equation (16), and the ⁇ axis current limit value (I ⁇ lim ). Is calculated and output to the exciting current limiter 112.
- the maximum current limit value (I max ) is a current value indicating the rated current of the motor 3, and is a value determined in advance at the design stage.
- the excitation current limiter 112 limits the input ⁇ -axis current command value (I ⁇ 2 * ) with the ⁇ -axis current limit value ( ⁇ I ⁇ lim ), thereby obtaining the ⁇ -axis current command value (I ⁇ * ). It calculates and outputs to arithmetic units, such as the rotor magnetic flux estimation part 102 and the subtractor 41.
- FIG. 1 The excitation current limiter 112 limits the input ⁇ -axis current command value (I ⁇ 2 * ) with the ⁇ -axis current limit value ( ⁇ I ⁇ lim ), thereby obtaining the ⁇ -axis current command value (I ⁇ * ). It calculates and outputs to arithmetic units, such as the rotor magnetic flux estimation part 102 and the subtractor 41.
- the excitation current limiter 112 sets the upper limit ⁇ -axis current limit value (+ I ⁇ lim ) to the ⁇ -axis current. Calculated as a command value (I ⁇ * ).
- the torque current limiting unit 101 sets the current limit value ( ⁇ Imax_ ⁇ ) to the ⁇ -axis current command value. Calculate as (I ⁇ * ).
- the torque current limiting unit 101 determines that the ⁇ -axis current command value (I ⁇ 2 * ) is higher than the lower limit current limit value ( ⁇ I ⁇ lim ) and lower than the upper limit current limit value (+ I ⁇ lim ). There is no limit by the limit value, and the ⁇ -axis current command value (I ⁇ 2 * ) is calculated as the ⁇ -axis current command value (I ⁇ * ).
- FIG. 6 is a block diagram showing the configuration of the magnetic flux response compensation unit 32 and the torque current compensation control unit 100.
- the torque current compensation control unit 200 includes an excitation current limiting unit 201, a rotor magnetic flux estimation unit 202, an output torque estimation unit 203, an ideal response torque calculation unit 204, a torque deviation calculation unit 205, an integral reset determination unit 206, a torque current command value deviation.
- a calculation unit 207, an additional compensation value calculation unit 208, an adder 209, an excitation current estimation unit 210, a torque current limit value calculation unit 211, and a torque current limit unit 212 are included.
- the exciting current limiting unit 201 calculates a ⁇ -axis current command value (I ⁇ 0 ) by limiting the input basic ⁇ -axis current command value (I ⁇ 0 * ) with a current limit value ( ⁇ Imax_ ⁇ ).
- the current limit value ( ⁇ Imax_ ⁇ ) is defined by an upper limit value and a lower limit value, and is a threshold value set in advance by design or experiment.
- the exciting current limiting unit 201 outputs the calculated ⁇ -axis current command value (I ⁇ 0 ) to the output torque estimating unit 203, the exciting current estimating unit 210, the subtractor 41, and the like.
- the rotor magnetic flux estimation unit 202 calculates the rotor magnetic flux estimated value ( ⁇ est — z ) based on the ⁇ -axis current command value (I ⁇ * ), and outputs it to the output torque estimation unit 203, similarly to the rotor magnetic flux estimation unit 102.
- the output torque estimating unit 203 calculates the output torque estimated value (T m_est ) based on the rotor magnetic flux estimated value ( ⁇ est_z ) and the ⁇ -axis current command value (I ⁇ ), and the torque deviation The result is output to the calculation unit 205.
- the ideal response torque calculation unit 204 calculates a torque ideal response value (T m_ref ) based on the post-vibration control torque command value (T m2 * ), and sends it to the torque deviation calculation unit 205. Output.
- the torque deviation calculation unit 205 calculates a motor torque deviation ( ⁇ T m ) based on the output torque estimation unit (T m_est ) and the ideal torque response value (T m_ref ), and determines integral reset
- ⁇ T m motor torque deviation
- T m_est output torque estimation unit
- T m_ref ideal torque response value
- the integral reset determination unit 206 determines whether or not to reset the compensation value of the additional compensation value calculation unit 208 in accordance with the motor torque deviation ( ⁇ T m ), and the determination result is determined.
- the indicated flag (flg_IRST) is output to the additional compensation calculation unit value 208.
- the torque current command value deviation calculating unit 207 calculates the difference between the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) and the previous value (I ⁇ _Z * ) of the ⁇ -axis current command value, as shown in Expression (17). Thus, the ⁇ -axis current command value deviation ( ⁇ I ⁇ * ) is calculated and output to the additional compensation value calculation unit 208.
- the additional compensation value calculation unit 208 integrates the ⁇ -axis current command value deviation ( ⁇ I ⁇ * ) according to the state of the flag (flg_IRST), as shown in the equations (18) and (19), By multiplying by the gain, the compensation value (I ⁇ _FB ) is calculated and output to the adder 209.
- 1 / T i is an integral gain set so as to release a compensation value with a predetermined response to the integral value, and is a value set in advance by design or experiment.
- the adder 209 adds the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) and the compensation value (I ⁇ _FB ), as shown by the equation (20), so that the ⁇ -axis current command before the current limit correction is performed.
- the value (I ⁇ 2 * ) is calculated and output to the torque current limiting unit 212.
- the command value compensated by the magnetic flux response compensation unit 32 is a magnetic flux compensation ⁇ -axis current command value.
- the compensation control in the control configuration shown in FIG. 6 is a control that increases the response speed of the torque current based on the determination result of the compensation determination unit 34. Therefore, the torque current command value among the command values after compensation of the magnetic flux response compensator 32 is input to the adder 209.
- the command value on the excitation current side is not compensated for increasing the response speed, and is used for setting a torque current limit value.
- the excitation current estimation unit 210 multiplies the basic ⁇ -axis current command value (I ⁇ 0 * ) by a function including the response time constant ( ⁇ i ) of the stator current, thereby obtaining the ⁇ -axis.
- the current estimated value (I ⁇ _est * ) is calculated and output to the torque current limit value calculating unit 211.
- the setting of the time constant ( ⁇ i ) is the same as in the equation (15). This control process may be omitted when the ⁇ -axis current command value is constant.
- the torque current limit value calculation unit 211 is based on the maximum current limit value (I max ) and the estimated ⁇ axis current value (I ⁇ _est * ), and the ⁇ axis current limit value (I ⁇ lim ). Is output to the torque current limiting unit 212.
- the torque current limiter 212 limits the input ⁇ -axis current command value (I ⁇ 2 * ) with the ⁇ -axis current limit value ( ⁇ I ⁇ lim ), thereby obtaining the ⁇ -axis current command value (I ⁇ * ). It calculates and outputs to arithmetic units, such as the rotor magnetic flux estimation part 202 and the subtractor 41.
- the magnetic flux response compensation unit 32 In order to increase the response speed of the excitation current, the excitation current command value is compensated by amplifying the excitation current command value so as to advance the phase of the excitation current command value.
- the excitation current compensation control unit 100 estimates the torque current based on the basic ⁇ -axis current command value (I ⁇ 0 * ) (corresponding to the ⁇ -axis current estimated value (I ⁇ _est * )) and is estimated.
- the ⁇ -axis current limit value (I ⁇ lim ) is calculated based on the torque current value. This control corresponds to the control of the torque current estimation unit 110 and the excitation current limit value calculation unit 111 in the control block of FIG.
- the amplified excitation current command value can be limited so that the torque current does not become zero, it is possible to prevent the occurrence of dead time when the output torque becomes zero.
- the ⁇ -axis current command value (I ⁇ 2 * ) amplified by the magnetic flux response compensation unit 32 is limited by the excitation current limiting unit 112.
- the command value limited by the ⁇ -axis current limit value (I ⁇ lim ) is not used for compensation of the excitation current.
- controlling the motor 3 with the excitation current command value exceeding the ⁇ -axis current limit value (I ⁇ lim ) may cause the torque current to become zero as described above.
- the excitation current compensation control unit 100 calculates a compensation value based on the command value of the amplified ⁇ -axis current command value (I ⁇ 2 * ) that is limited by the ⁇ -axis current limit value (I ⁇ lim ). In addition, feedback is added to the ⁇ -axis current command value (I ⁇ 1 * ). Further, the excitation current compensation control unit 100 adds by integrating the difference between the command value corresponding to the limit, that is, the ⁇ -axis current command value (I ⁇ 1 * ) and the ⁇ -axis current limit value (I ⁇ lim ). The compensation value to be calculated is calculated.
- the amplified gamma-axis current command value (I ⁇ 1 *) is gamma-axis current limit value as a condition of more than (I ⁇ lim) continues, gamma-axis current limit value (I ⁇ lim) a minute command value exceeded, Accumulated by integration.
- the ⁇ -axis current command value (I ⁇ 1 * ) is lower than the ⁇ -axis current limit value (I ⁇ lim )
- the accumulated compensation value is lower than the ⁇ -axis current limit value (I ⁇ lim ).
- This control corresponds to the control of the excitation current command value deviation calculation unit 107, the additional compensation value calculation unit 108, the adder 109, and the excitation current limit unit 112 in the control block of FIG.
- the excitation current compensation control unit 100 calculates the difference between the output torque of the motor 3 and the torque command value by calculating the difference between the estimated output torque value (T m_est ) and the ideal torque response value (T m_ref ). The timing for resetting the compensation value is set based on the difference.
- the estimated output torque value (T m_est ) corresponds to the output torque
- the ideal torque response value (T m_ref ) corresponds to the torque command value.
- This control corresponds to the rotor magnetic flux estimating unit 102, the output torque estimating unit 103, the ideal response torque calculating unit 104, the torque deviation calculating unit 105, and the integral reset determining unit 106 in the control block of FIG.
- the excitation current compensation control unit 100 sets the reset determination threshold (dT m0 ) to prevent such overshoot, and the motor torque deviation ( ⁇ T m ) is less than the reset determination threshold. Controls to reset the compensation value.
- the command value of the additionally compensated excitation current is compensated by the magnetic flux response compensation unit 32.
- the command value can be lowered.
- the actual torque can be matched with the torque command value without causing an actual torque overshoot.
- the torque current control of the torque current compensation control unit 200 is the same as the excitation current control of the excitation current compensation control unit 100, and the excitation current control of the torque current compensation control unit 200 is the torque of the excitation current compensation control unit 100. This is the same as the current control.
- the torque current compensation controller 200 estimates the torque current based on the basic ⁇ -axis current command value (I ⁇ 0 * ) (corresponding to the ⁇ -axis current estimated value (I ⁇ _est * )), and based on the estimated torque current value.
- the ⁇ -axis current limit value (I ⁇ lim ) is calculated. This control corresponds to the control of the excitation current estimation unit 210 and the excitation current limit value calculation unit 211 in the control block of FIG.
- the torque current compensation control unit 200 calculates a compensation value based on a command value of the amplified ⁇ -axis current command value (I ⁇ 2 * ) that is limited by the ⁇ -axis current limit value (I ⁇ lim ). In addition, feedback is added to the ⁇ -axis current command value (I ⁇ 1 * ). Also, the torque current compensation control unit 200 compensates by integrating the difference between the command value corresponding to the limit, that is, the ⁇ -axis current command value (I ⁇ 1 * ) and the ⁇ -axis current limit value (I ⁇ lim ). The value is being calculated. This control corresponds to the control of the torque current command value deviation calculating unit 207, the additional compensation value calculating unit 208, the adder 209, and the torque current limiting unit 212 in the control block of FIG.
- the torque current compensation control unit 200 calculates the difference between the output torque of the motor 3 and the torque command value by calculating the difference between the output torque estimated value (T m_est ) and the torque ideal response value (T m_ref ). The timing for resetting the compensation value is set based on the difference.
- This control corresponds to the rotor magnetic flux estimation unit 202, the output torque estimation unit 203, the ideal response torque calculation unit 204, the torque deviation calculation unit 205, and the integral reset determination unit 206 in the control block of FIG.
- FIG. 7 is a flowchart showing a control procedure of the motor controller 20. Note that the control flow of FIG. 7 is repeatedly executed at a predetermined cycle.
- step S1 the motor controller 20, the vehicle speed, the accelerator opening, etc. are acquired as input processing.
- step S2 the motor torque control unit 21 calculates a torque command value (T m1 * ) based on the input accelerator opening and the like.
- step S ⁇ b > 3 the vibration suppression control unit 22 calculates the post-vibration control torque command value (T m2 * ) by performing vibration suppression control based on the torque command value (T m1 * ) or the like.
- step S4 the current command value calculator 30 included in the current control unit 23 calculates the ⁇ -axis current command value (I ⁇ * , I ⁇ * ) based on the post-damping control torque command value (T m2 * ) or the like. Is calculated.
- the detailed control procedure of step S4 will be described later.
- step S5 a drive signal (switching signal) is generated so that the ⁇ axis current command value (I ⁇ * , I ⁇ * ) is output from the motor 3 by the subtractor 41 included in the current control unit 23. Then, the inverter 2 is controlled by outputting to the inverter 2.
- FIG. 8 is a flowchart showing the control procedure of step S4.
- step S41 the basic current command value calculation unit 31 determines the basic ⁇ axis current command value (I ⁇ 0 * , I ⁇ 0 ) based on the post-vibration control torque command value (T m2 * ) or the like. * ) Is calculated.
- step S42 the magnetic flux response compensator 32 amplifies the basic ⁇ -axis current command values (I ⁇ 0 * , I ⁇ 0 * ) to compensate for a delay in the rotor magnetic flux response of the drive motor 3 and to provide a magnetic flux compensation ⁇ axis.
- the current command value (I ⁇ 1 * , I ⁇ 1 * ) is calculated.
- step S43 the excitation current command value change amount calculation unit 33 calculates the change amount (dI ⁇ 0 * ) of the ⁇ -axis current command value based on the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ).
- step S44 the compensation determination unit 34 compares the amount of change (dI ⁇ 0 * ) in the ⁇ -axis current command value with the determination threshold value (I 0 ).
- step S45 When the change amount (dI ⁇ 0 * ) of the ⁇ -axis current command value is larger than the determination threshold value (I 0 ), the compensation control unit 35 controls the excitation current compensation control unit 100 to additionally compensate the excitation current ( Step S45). On the other hand, when the change amount (dI ⁇ 0 * ) of the ⁇ -axis current command value is equal to or less than the determination threshold value (I 0 ), the compensation control unit 35 causes the torque current compensation control unit 100 to additionally compensate the torque current. Control is performed (step S46). When the additional compensation control in step S45 and step S46 is completed, the control flow in step S4 is terminated, and the process proceeds to step S5.
- FIG. 9 is a flowchart showing the control procedure of step S45.
- step S451 the torque current limiting unit 101 limits the basic ⁇ -axis current command value (I ⁇ 0 * ) with the current limit value ( ⁇ Imax_ ⁇ ), so that the ⁇ -axis current.
- the command value (I ⁇ ) is calculated.
- the torque current estimation unit 110 estimates the ⁇ -axis current estimated value (I ⁇ _est * ) based on the ⁇ -axis current command value (I ⁇ ). Further, the excitation current limit value calculation unit 111 calculates the ⁇ -axis current limit value (I ⁇ lim ) based on the ⁇ -axis current estimated value (I ⁇ _est * ) (step S452).
- step S453 the ideal response torque calculation unit 104 calculates a torque ideal response value (T m_ref ) based on the post-vibration control torque command value (T m2 * ).
- the rotor magnetic flux estimation unit 102 calculates a rotor magnetic flux estimated value ( ⁇ est — z ) based on the previous value (I ⁇ — Z * ) of the ⁇ -axis current command value (I ⁇ * ). Further, the output torque estimating unit 103, based on the rotor flux estimate ( ⁇ est_z), calculates the output torque estimated value (T m_est) (step S454).
- step S455 the torque deviation calculation unit 105 calculates the motor torque deviation ( ⁇ T m ) by calculating the difference between the torque ideal response value (T m_ref ) and the output torque estimated value (T m_est ).
- step S456 the integral reset determination unit 106 compares the motor torque deviation ( ⁇ T m ) with the reset determination threshold (dT m0 ).
- the integral reset determination unit 106 sets the flag (flg_IRST) to “0 (reset prohibited)” (step S457). If the motor torque deviation ( ⁇ T m ) is less than the reset determination threshold value (dT m0 ), the integral reset determination unit 106 sets the flag (flg_IRST) to “1 (reset execution)” (step S458).
- step S459 the excitation current command value deviation calculating unit 107 calculates the difference between the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) and the previous value (I ⁇ _Z * ) of the ⁇ -axis current command value.
- the ⁇ -axis current command value deviation ( ⁇ I ⁇ * ) is calculated.
- step S460 additional compensation value calculation section 108 calculates an integral value by integrating the ⁇ -axis current command value deviation ( ⁇ I ⁇ * ).
- step S461 the additional compensation value calculation unit 108 calculates the compensation value (I ⁇ _FB ) by multiplying the integral value by a predetermined gain.
- step S462 the additional compensation value calculation unit 108 determines whether or not the flag (flg_IRST) is “1”. When the flag (flg_IRST) is "1”, at step S463, the additional compensating value calculating section 108, compensation value (I ⁇ _FB) by zero, reset the compensation value (I ⁇ _FB). On the other hand, when the flag (flg_IRST) is “1”, the compensation value (I ⁇ _FB ) is not reset, and the process proceeds to step S464.
- step S464 the adder 109 adds the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) and the compensation value (I ⁇ _FB ), so that the ⁇ -axis current command value (I ⁇ 2 * before current limit correction) is added . ) Is calculated.
- step S465 the excitation current limiter 112 limits the ⁇ -axis current command value (I ⁇ 2 * ) before the current limit correction with the ⁇ -axis current limit value (I ⁇ lim ).
- the magnitude relationship between I ⁇ 2 * ) and the ⁇ -axis current limit value (I ⁇ lim ) is compared.
- the excitation current limiting unit 112 Without restricting the value, the ⁇ -axis current command value (I ⁇ 2 * ) is output as the ⁇ -axis current command value (I ⁇ * ) (step S466).
- step S466 the control flow of step S4 is finished, and the process proceeds to step S5.
- step S459 of the control flow of the next calculation cycle the previous value (I ⁇ _Z * ) of the ⁇ -axis current command value becomes the ⁇ -axis current limit value (I ⁇ lim ). Then, the difference between the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) and the ⁇ -axis current limit value (I ⁇ lim ) is the excitation current corresponding to the limit imposed by the ⁇ -axis current limit value (I ⁇ lim ). It becomes a command value. Further, by integrating this difference by the control in step S460, it is possible to accumulate the command values that could not be reflected in the compensation of the excitation current.
- step S467 if the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) is smaller than the ⁇ -axis current limit value (I ⁇ lim ) in the control flow of the next calculation cycle, the control of the next calculation cycle is performed.
- step S464 of the flow the compensation value is added to the excitation current command value (I ⁇ 1 * ) smaller than the ⁇ -axis current limit value (I ⁇ lim ).
- the command value of the ⁇ -axis current limit value (I ⁇ lim) by the exciting currents of the amount that restricted adds against command value after no restricted by ⁇ -axis current limit value (I ⁇ lim) be able to.
- control flow in step S46 is substantially the same as the control flow in steps S451 to S467 shown in FIG.
- FIG. 10 shows the characteristics of the comparative example
- FIG. 11 shows the characteristics of the present invention.
- 10 and 11 (a) shows the time characteristic of the excitation current ( ⁇ -axis current), (b) shows the time characteristic of the torque current ( ⁇ -axis current), (c) shows the time characteristic of the rotor magnetic flux, (d ) It is a graph showing the time characteristics of torque. 10 and 11, the actual torque, the actual ⁇ -axis current, and the actual ⁇ -axis current indicate the actual output torque of the motor 3 and the current that actually flows through the motor 3.
- phase compensation for improving the rotor magnetic flux response is performed by amplifying the ⁇ -axis current command value.
- the excitation current command value compensated by this phase compensation is limited by the maximum current limit value.
- the excitation current is amplified so that the current is distributed to the ⁇ -axis current as compared to the ⁇ -axis current, with the maximum current limit value as the upper limit value of the current amplitude. Therefore, in the comparative example, the current up to the maximum current limit value is used up only by the ⁇ -axis current command value, the current value that can be used for the ⁇ -axis current remains zero, and the dead time during which torque cannot be generated (Corresponding to ⁇ t n in FIG. 10). Further, since the ⁇ -axis current is limited by the rated current limit value (corresponding to the maximum current limit value), a desired current for improving the rotor magnetic flux response does not flow, and a desired rotor magnetic flux response can be realized. Can not.
- the magnetic flux compensator ⁇ -axis current value converges to substantially Basic ⁇ -axis current value.
- gamma-axis current will be maintained at a constant value, with a delay of the time constant determined by the characteristics of the rotor, gradually rises rotor flux.
- the response speed is slow and the torque response is slow, and it takes time from time t 5 to time t 6 to converge to the final torque command value of actual torque.
- stepwise torque command value rises, basic ⁇ -axis current command value also rises in a stepwise manner.
- the present invention allows the ⁇ -axis current to flow while limiting the ⁇ -axis current command value with a maximum current limit value (corresponding to a current limit value ( ⁇ Imax_ ⁇ )). For this reason, during the period when the dead time is generated in the comparative example, the present invention does not cause the ⁇ -axis current command value to become zero, and can quickly raise the ⁇ -axis current. As a result, the torque also rises from time t 1 without wasted time.
- the magnetic flux compensation ⁇ -axis current command value rises to a transiently large value by the phase compensation for improving the rotor magnetic flux response by the magnetic flux response compensator 32.
- the limit value added to the magnetic flux compensation ⁇ -axis current command value is a value obtained by subtracting the ⁇ -axis current command value from the maximum current limit value so that the maximum current limit value is the current amplitude.
- a limit value (corresponding to ⁇ I ⁇ lim ) is determined. Therefore, the ⁇ -axis current command value is limited and falls according to the rise of the ⁇ -axis current command value.
- the torque response immediately after time t 1 is faster than the comparative example without generating dead time, but the actual torque rise amount is temporarily between time t 1 and t 2. There is a time smaller than the comparative example. However, the time t 2 when the magnitude of the actual torque is substantially the same order.
- the additional compensation ⁇ -axis current command value (corresponding to the ⁇ -axis current command value (I ⁇ 2 * ) input to the excitation current limiting unit 112) is gradually increased greatly.
- the additional compensation ⁇ -axis current command value is larger than the magnetic flux compensation ⁇ -axis current command value due to the accumulated integral value. Can be held. Then, after the current limit is released, a current corresponding to the magnetic flux compensation ⁇ -axis current command value that could not exhibit the effect of the current limit can be applied at the current limit release timing.
- the present invention can increase continuously torque, before reaching the time t 3
- the target command value can be reached.
- the present invention detects that the amount of change in the output torque has become small because the output torque substantially coincides with the torque command value before reaching the time t 3 , and converges the integral value of the compensation value to 0.
- the additional compensation ⁇ -axis current command value is lowered to the magnetic flux compensation ⁇ -axis current command value. Therefore, the present invention can match the actual torque with the torque command value without causing an overshoot of the actual torque.
- the basic ⁇ -axis current command value (I ⁇ 0 * , I ⁇ 0 * ) is amplified to compensate for the delay in the rotor magnetic flux response of the motor 3 to thereby compensate the magnetic flux compensation ⁇ -axis current command value ( I ⁇ 1 * , I ⁇ 1 * ) is calculated, the ⁇ axis current command value (I ⁇ 2 * , I ⁇ 2 * ) is limited by the ⁇ axis current limit value (I ⁇ lim , I ⁇ lim ), and the magnetic flux compensation ⁇ axis current command value Based on (I ⁇ 1 * , I ⁇ 1 * ) and ⁇ axis current limit values (I ⁇ lim , I ⁇ lim ) limited by ⁇ axis current command values (I ⁇ * , I ⁇ * ), compensation values (I ⁇ _FB , I ⁇ _FB ) is calculated, and by adding the magnetic flux compensation ⁇ axis current command values (I ⁇ 1 * ,
- the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 *, I ⁇ 1 * ) if some is limited by the limit value, the flux compensation ⁇ -axis current command value that can not be output by the current limit (I .gamma.1 * , I ⁇ 1 * ) can be additionally compensated by adding a part when the magnetic flux compensation ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ) is smaller than the limit value. Torque response can be improved.
- the compensation value (I ⁇ _FB , I ⁇ _FB ) is calculated. Accordingly, the magnetic flux compensation ⁇ -axis current command value that can not be output by the current limit (I ⁇ 1 *, I ⁇ 1 * ) because some of the accumulated flux compensation ⁇ -axis current command value (I ⁇ 1 *, I ⁇ 1 * ) Becomes smaller than the limit value, the accumulated integral value can be output as a compensation value. Further, since the excitation current can be maintained at a high level even after the current limit is released, the actual torque can be converged to the command value quickly with respect to a sudden change in the torque command value.
- a gain (a predetermined value) is added to an integral value obtained by integrating the difference between the magnetic flux compensation ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ) and the ⁇ axis current limit value (I ⁇ lim , I ⁇ lim ).
- compensation values (I ⁇ _FB , I ⁇ _FB ) are calculated. Thereby, the accumulated integral value can be output with a desired response.
- the gain (1 / T i ) is adjusted to compensate for the ⁇ -axis current command value (I ⁇ 2 * , I ⁇ 2 * ) after the current limit is released so as not to increase transiently.
- the values (I ⁇ _FB , I ⁇ _FB ) are suppressed. That is, in this example, after the current limit is released, the value accumulated in the integral value is released and added to the magnetic flux compensation ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ). Due to the time constant of the rotor magnetic flux, the actual rotor magnetic flux rises later than assumed by the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * , I ⁇ 1 * ).
- the compensation value which is an integral value, is calculated as the magnetic flux compensation ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ). Therefore, when the integral value is released as it is without adjusting the gain and added to the magnetic flux compensation ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ), the rotor magnetic flux is transiently increased more than necessary. As a result, the output torque may overshoot. Therefore, in this example, gain adjustment is performed on the integral value to prevent overshoot of the output torque, and control is performed so that the steady value is in accordance with the command value and only the transient response is improved.
- the compensation values (I ⁇ _FB , I ⁇ _FB ) are reset based on the difference between the post-vibration control torque command value (T m2 * ) and the output torque. Thereby, a transient overshoot of the rotor magnetic flux and torque can be avoided.
- the current value of the uncompensated one is estimated and estimated based on the basic ⁇ -axis current command value (I ⁇ 0 * , I ⁇ 0 * ) which is not compensated by the magnetic flux response compensator 32.
- the ⁇ axis current limit values (I ⁇ lim , I ⁇ lim ) are calculated.
- the ⁇ axis current limit values (I ⁇ lim , I ⁇ lim ) are calculated based on the current command value not compensated by the magnetic flux response compensator 32 and the maximum current limit value (I max ).
- Expression (16) or Expression (22) is satisfied between the current command value, the maximum current limit value (I max ), and (I ⁇ lim , I ⁇ lim ).
- the expression (16) or the expression (22) is an expression including a ⁇ axis current estimated value (I ⁇ _est * , I ⁇ _est * ), but instead of the estimated value, a basic ⁇ axis current command value ( I ⁇ 0 * , I ⁇ 0 * ).
- the basic ⁇ axis current command value (I ⁇ 0 * , I ⁇ 0 * ) is amplified to compensate for the delay in the rotor magnetic flux response of the motor 3 to thereby compensate the magnetic flux compensation ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ) is calculated (first compensation), and the magnetic flux compensation ⁇ axis current command values (I ⁇ 1 * , I ⁇ 1 * ) are further compensated to obtain ⁇ axis current command values (I ⁇ 2 * , I ⁇ 2 * ).
- the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 *, I ⁇ 1 * ) if some is limited by the limit value, the flux compensation ⁇ -axis current command value that can not be output by the current limit (I .gamma.1 * , I ⁇ 1 * ) can be additionally compensated by adding a part of the magnetic flux compensation ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ) below the limit value. Can increase the responsiveness.
- the slip angular velocity calculating unit 49 when calculating the slip angular velocity Omegase, * current command value I gamma, instead of using the I [delta] *, previous value I Ganma_z the current measurement value, the I Deruta_z May be used to calculate.
- the ideal response torque calculation unit 104 uses the post-damping control torque command value (T m2 * ) calculated at the previous calculation timing as the command value for calculating the torque ideal response value (T m_ref ). May be used.
- the rotor magnetic flux estimation unit 102 calculates the rotor magnetic flux estimated value ( ⁇ est_z ) using the ⁇ -axis current command value (I ⁇ _Z * ) acquired at the previous calculation timing. Therefore, the ideal response torque calculation unit 104 also calculates the torque ideal response value (T m_ref ) using the post-vibration control torque command value (T m2 * ) calculated at the previous calculation timing, thereby calculating the phase. Can be matched.
- the additional compensation value calculation unit 108 changes the flag set by the integral reset determination unit 106 from “0” to “1”, and resets the compensation value, the flag is changed from “0” to “1”. It may be converged so that the compensation value becomes zero as a predetermined time elapses after the change.
- the torque current estimation unit 110 may use the previous basic ⁇ -axis current command value (I ⁇ 0_Z * ) instead of the basic ⁇ -axis current command value (I ⁇ 0 * ) in view of the delay due to the control calculation. Good.
- the torque current estimation unit 110 may use a detected value of torque current actually detected by a sensor.
- the basic current command value calculator 31 corresponds to the “current command value calculator” of the present invention
- the magnetic flux response compensator 32 corresponds to the “first compensator” of the present invention as the excitation current limiter 112 or the torque current limiter.
- the unit 212 is the “first current command value limiting means” of the present invention, and the excitation current command value deviation calculation unit 107, the torque current command value deviation calculation unit 207, and the additional compensation value calculation units 108 and 208 of the present invention
- the adders 109 and 209 correspond to “adding means”, and the exciting current limit value calculation unit 111 and the torque current limit value calculation unit 211 correspond to “first compensation limit calculation unit” of the present invention.
- FIG. 12 is a block diagram of an excitation current compensation controller 100 of a motor controller according to another embodiment of the invention
- FIG. 13 is a block diagram of a torque current compensation controller 200 of the motor controller.
- a part of the configuration of the exciting current compensation control unit 100 and a part of the configuration of the torque current compensation control unit 200 are different from the first embodiment described above. Since the configuration other than this is the same as that of the first embodiment described above, the description thereof is incorporated as appropriate.
- the excitation current compensation control unit 100 includes a torque current limiting unit 101, an integral reset determination unit 106, an excitation current command value deviation calculation unit 107, an additional compensation value calculation unit 108, an adder 109, and torque current estimation. 110, an excitation current limit value calculation unit 111, an excitation current limit unit 112, and an excitation current deviation calculation unit 113.
- the excitation current deviation calculation unit 113 calculates the difference between the basic ⁇ -axis current command value (I ⁇ 0 * ) and the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ) as shown in Expression (23).
- the deviation ( ⁇ I ⁇ 10 * ) of the excitation current command value is calculated and output to the integral reset determination unit 106.
- the integral reset determination unit 106 determines whether or not to reset the compensation value of the additional compensation value calculation unit 108 according to the deviation ( ⁇ I ⁇ 10 * ) of the excitation current command value, and a flag (flg_IRST) indicating the determination result Is output to the additional compensation calculation unit value 108.
- the determination and flag conditions are shown as follows. Note that the reset determination threshold value (dI ⁇ 10 * ) is a threshold value set in advance so as to suppress overshoot of the output torque, and is a value set by design or experiment.
- the additional compensation value calculator 108 resets the compensation value (I ⁇ _FB ) based on the difference between the basic ⁇ -axis current command value (I ⁇ 0 * ) and the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 ).
- the difference between the basic ⁇ -axis current command value (I ⁇ 0 * ) and the magnetic flux correction ⁇ -axis current command value (I ⁇ 1 ) is equivalent to the command value amplified by compensation of the rotor magnetic flux response of the magnetic flux response compensation unit 32. To do.
- the additional compensation value calculation unit 108 and the addition unit 109 perform additional compensation of the excitation current during a period in which the command value amplified by the magnetic flux response compensation unit 32 is equal to or greater than the reset determination threshold value.
- the additional compensation value calculator 108 resets the compensation value, thereby ending the additional compensation of the excitation current.
- the torque current compensation control unit 200 includes an excitation current limiting unit 201, an integral reset determination unit 206, a torque current command value deviation calculation unit 207, an additional compensation value calculation unit 208, an adder 209, and an excitation current estimation.
- the torque current deviation calculation unit 213 calculates the difference between the basic ⁇ -axis current command value (I ⁇ 0 * ) and the magnetic flux compensation ⁇ -axis current command value (I ⁇ 1 * ), as shown in Expression (24).
- the deviation ( ⁇ I ⁇ 10 * ) of the torque current command value is calculated and output to the integral reset determination unit 106.
- the integral reset determination unit 206 determines whether or not to reset the compensation value of the additional compensation value calculation unit 208 according to the deviation ( ⁇ I ⁇ 10 * ) of the torque current command value, and a flag (flg_IRST) indicating the determination result Is output to the additional compensation calculation unit 208.
- the determination and flag conditions are shown as follows.
- the reset determination threshold (dI ⁇ 10 * ) is a threshold set in advance so as to suppress overshoot of the output torque, and is a value set by design or experiment.
- the compensation value is based on the difference between the basic ⁇ axis current command value (I ⁇ 0 * , I ⁇ 0 * ) and the magnetic flux correction ⁇ axis current command value (I ⁇ 1 * , I ⁇ 1 * ).
- I ⁇ _FB , I ⁇ _FB is reset.
- additional compensation is performed during a period in which the increase in the current command value by the magnetic flux response compensation unit 32 is higher than a predetermined value (reset determination threshold (dI ⁇ 10 * , dI ⁇ 10 * )), and the increase in the current command value is It can be controlled not to perform additional compensation in a period lower than the predetermined value. As a result, overshoot of the output torque can be suppressed while improving the torque response.
- FIG. 14 is a block diagram of an excitation current compensation controller 100 of a motor controller according to another embodiment of the invention
- FIG. 15 is a block diagram of a torque current compensation controller 200 of the motor controller.
- a part of the configuration of the exciting current compensation control unit 100 and a part of the configuration of the torque current compensation control unit 200 are different from the first embodiment described above.
- Other configurations are the same as those of the first embodiment described above, and the descriptions of the first and second embodiments are incorporated as appropriate.
- the excitation current compensation control unit 100 includes a torque current limiting unit 101, a rotor magnetic flux estimation unit 102, an excitation current command value deviation calculation unit 107, an additional compensation value calculation unit 108, an adder 109, and a torque current estimation. 110, an excitation current limit value calculation unit 111, an excitation current limit unit 112, a torque current limit value calculation unit 114, and a torque current limit unit 115.
- the torque current limit value calculation unit 114 calculates the torque command value (T m2 * ) after vibration suppression control, the torque constant (K Te ), and the estimated rotor magnetic flux value ( ⁇ est ), as shown in Expression (25). By dividing by the multiplied value, the ⁇ -axis current limit value (I ⁇ lim ) is calculated and output to the torque current limiter 115.
- the torque current limiting unit 115 limits the torque current command value calculated by the torque current limiting unit 101 with a positive / negative ⁇ -axis current limit value ( ⁇ I ⁇ lim ), thereby reducing the ⁇ -axis current command value (I ⁇ ). Calculate.
- the torque current compensation control unit 200 calculates a limit value for the ⁇ -axis current command value based on the ⁇ -axis current command value that is not compensated by the magnetic flux response compensation unit 32, and the ⁇ -axis current compensated by the magnetic flux response compensation unit 32. Additional compensation is performed on the command value, and a limit is added by the limit value of the ⁇ -axis current. Further, a limit value for the ⁇ -axis current command value is calculated based on the ⁇ -axis current command value that is limited by the limit value of the ⁇ -axis current, and a limit is applied to the ⁇ -axis current command value. Thereby, by the compensation by the magnetic flux response compensation unit 32 and the compensation by the excitation current compensation control unit 100, the output torque can be brought close to the ideal response of the torque command value regardless of the value of the current command value. .
- the torque current compensation control unit 200 includes an excitation current limiting unit 201, a rotor magnetic flux estimation unit 202, an output torque estimation unit 203, an ideal response torque calculation unit 204, a torque deviation calculation unit 205, and an integral reset determination unit. 206, torque current command value deviation calculation unit 207, additional compensation value calculation unit 208, adder 209, excitation current estimation unit 210, torque current limit value calculation unit 211, torque current limit unit 212, excitation current limit value calculation unit 214, A limit value correcting unit 215 and an excitation current limiting unit 216 are provided.
- the excitation current limit value calculation unit 214 calculates the post-vibration control torque command value (T m2 * ), the motor torque constant (K 1 ), and the ⁇ -axis current command value (I ⁇ *). ),
- the ⁇ -axis current limit value (I ⁇ lim ′ ) is calculated by division and output to the limit value correction unit 215.
- the motor torque constant (K 1 ) is represented by M ⁇ K Te .
- the motor torque constant (K 1 ) is a value set in advance by calculation or experiment.
- the limit value correcting unit 215 multiplies the ⁇ -axis current limit value (I ⁇ lim ′ ) by a function including a time constant ( ⁇ m ) and a time constant ( ⁇ ⁇ ), as shown in Expression (27), The ⁇ -axis current limit value (I ⁇ lim ′ ) is corrected, and the ⁇ -axis current limit value (I ⁇ lim ) is calculated.
- the correction process by the limit value correction unit 215 is a process that approximately compensates for the rotor magnetic flux response and the torque response.
- the excitation current limiter 216 limits the excitation current command value calculated by the excitation current limiter 201 with the positive and negative ⁇ -axis current limit values ( ⁇ I ⁇ lim ), thereby reducing the ⁇ -axis current command value (I ⁇ ). Calculate.
- the limit value is calculated using Equation (25) or Equation (26) based on the command value compensated by the magnetic flux response compensator 32, and is compensated by the magnetic flux response compensator 32.
- the current command value that is not present is limited by the limit value.
- the output torque is set to the torque command value regardless of the value of the current command value by the compensation by the magnetic flux response compensation unit 32 and the compensation by the excitation current compensation control unit 100 or the torque current compensation control unit 200. It can be close to the ideal response.
- the torque current limit value calculation unit 114 corresponds to the “second current limit value calculation unit” of the present invention
- the torque current limit unit 115 corresponds to the “second current command value limit unit” of the present invention.
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JP2015502835A JP5862832B2 (ja) | 2013-02-26 | 2014-02-06 | モータ制御装置及びモータ制御方法 |
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CN114633635A (zh) * | 2022-03-22 | 2022-06-17 | 苏州汇川联合动力系统有限公司 | 电机控制方法、装置、系统及存储介质 |
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JP2018007532A (ja) * | 2016-07-08 | 2018-01-11 | 株式会社リコー | モータ制御装置、モータ駆動装置、モータ駆動システム、画像形成装置、及び搬送装置 |
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KR102370944B1 (ko) * | 2017-12-12 | 2022-03-07 | 현대자동차주식회사 | 하이브리드 전기차량의 모터속도 발산 방지 방법 |
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JP6965303B2 (ja) * | 2019-04-03 | 2021-11-10 | 三菱電機株式会社 | 交流回転電機の制御装置 |
CN113346822B (zh) * | 2020-03-02 | 2022-07-12 | 广东威灵电机制造有限公司 | 电机控制方法、电机控制装置、电机系统和存储介质 |
CN115009042A (zh) * | 2021-08-23 | 2022-09-06 | 长城汽车股份有限公司 | 电机扭矩的控制方法、装置、电子设备、存储介质和车辆 |
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JP2012120412A (ja) * | 2010-12-03 | 2012-06-21 | Mitsubishi Electric Corp | 制御装置 |
Cited By (3)
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JP2019017232A (ja) * | 2017-07-11 | 2019-01-31 | 日立オートモティブシステムズ株式会社 | 電動機の制御装置及び電動ブレーキ装置 |
CN114633635A (zh) * | 2022-03-22 | 2022-06-17 | 苏州汇川联合动力系统有限公司 | 电机控制方法、装置、系统及存储介质 |
CN114633635B (zh) * | 2022-03-22 | 2023-08-22 | 苏州汇川联合动力系统股份有限公司 | 电机控制方法、装置、系统及存储介质 |
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EP2963807A1 (de) | 2016-01-06 |
US20150365032A1 (en) | 2015-12-17 |
CN104956587A (zh) | 2015-09-30 |
EP2963807A4 (de) | 2016-04-13 |
JPWO2014132766A1 (ja) | 2017-02-02 |
EP2963807B1 (de) | 2018-10-31 |
CN104956587B (zh) | 2016-11-16 |
JP5862832B2 (ja) | 2016-02-16 |
US9431946B2 (en) | 2016-08-30 |
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